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<table>
 <colgroup> 
  <col style="width: 27%"> 
  <col style="width: 33%"> 
  <col style="width: 40%"> 
 </colgroup>
 <tbody>
  <tr>
   <th class="head"><p>Section</p></th>
   <th class="head"><p>Message</p></th>
   <th class="head"><p>Description</p></th>
  </tr>
<tr class="row-even"><td rowspan="2"><a class="Link" href="message_api.html#actor-group" class="reference internal" data-cms-ai="0"
            >actor_group</a></td>
<td><a class="Link" href="message_api.html#actorgroupproto" class="reference internal" data-cms-ai="0"
            >ActorGroupProto</a></td>
<td>A message to request creation and
destruction of actors in simulator</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#actorgroupstatusproto" class="reference internal" data-cms-ai="0"
            >ActorGroupStatusProto</a></td>
<td>A message as response to
ActorGroupProto, listing current actors
in the scene.</td>
</tr>
<tr class="row-even"><td rowspan="5"><a class="Link" href="message_api.html#alice" class="reference internal" data-cms-ai="0"
            >alice</a></td>
<td><a class="Link" href="message_api.html#logmessageproto" class="reference internal" data-cms-ai="0"
            >LogMessageProto</a></td>
<td>Header for logging messages</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#messagechannelindexproto" class="reference internal" data-cms-ai="0"
            >MessageChannelIndexProto</a></td>
<td>An index containing all message channels
in a log</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#messageheaderproto" class="reference internal" data-cms-ai="0"
            >MessageHeaderProto</a></td>
<td>A message header which is sent together
with the actual message. It allows the
remote to forward the message to the
correct receiver and it also provides
timing information based on the
transmitter clock.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#posetreeedgeproto" class="reference internal" data-cms-ai="0"
            >PoseTreeEdgeProto</a></td>
<td>Information about the pose relation
between two coordinate frames.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#udppackageheaderproto" class="reference internal" data-cms-ai="0"
            >UdpPackageHeaderProto</a></td>
<td>A small header for every package we send
over a UDP socket. It allows the remote
to reassemble the message</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#audio-data" class="reference internal" data-cms-ai="0"
            >audio_data</a></td>
<td><a class="Link" href="message_api.html#audiodataproto" class="reference internal" data-cms-ai="0"
            >AudioDataProto</a></td>
<td>Message containing input to the audio
playback module</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#audio-file-playback" class="reference internal" data-cms-ai="0"
            >audio_file_playback</a></td>
<td><a class="Link" href="message_api.html#audiofileplaybackproto" class="reference internal" data-cms-ai="0"
            >AudioFilePlaybackProto</a></td>
<td>Notifies the audio file loader module
the file to play</td>
</tr>
<tr class="row-odd"><td rowspan="7"><a class="Link" href="message_api.html#camera" class="reference internal" data-cms-ai="0"
            >camera</a></td>
<td><a class="Link" href="message_api.html#cameraintrinsicsproto" class="reference internal" data-cms-ai="0"
            >CameraIntrinsicsProto</a></td>
<td>Intrinsic camera parameters</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#colorcameraproto" class="reference internal" data-cms-ai="0"
            >ColorCameraProto</a></td>
<td>An image published by a color (or
grayscale) camera</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#depthcameraproto" class="reference internal" data-cms-ai="0"
            >DepthCameraProto</a></td>
<td>Depth information for an image</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#disparitycameraproto" class="reference internal" data-cms-ai="0"
            >DisparityCameraProto</a></td>
<td>Disparity information for an image</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#distortionproto" class="reference internal" data-cms-ai="0"
            >DistortionProto</a></td>
<td>Distortion parameters for a camera image</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pinholeproto" class="reference internal" data-cms-ai="0"
            >PinholeProto</a></td>
<td>Pinhole camera model parameters</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#segmentationcameraproto" class="reference internal" data-cms-ai="0"
            >SegmentationCameraProto</a></td>
<td>Pixel-wise class label and instance
segmentations for an image</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#chat-message" class="reference internal" data-cms-ai="0"
            >chat_message</a></td>
<td><a class="Link" href="message_api.html#chatmessageproto" class="reference internal" data-cms-ai="0"
            >ChatMessageProto</a></td>
<td>A chat message</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#collision" class="reference internal" data-cms-ai="0"
            >collision</a></td>
<td><a class="Link" href="message_api.html#collisionproto" class="reference internal" data-cms-ai="0"
            >CollisionProto</a></td>
<td>A collision event information</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#composite" class="reference internal" data-cms-ai="0"
            >composite</a></td>
<td><a class="Link" href="message_api.html#compositeproto" class="reference internal" data-cms-ai="0"
            >CompositeProto</a></td>
<td>A type containing measurable quantities
for a bag of entities.</td>
</tr>
<tr class="row-odd"><td rowspan="6"><a class="Link" href="message_api.html#detections" class="reference internal" data-cms-ai="0"
            >detections</a></td>
<td><a class="Link" href="message_api.html#confusionmatrixproto" class="reference internal" data-cms-ai="0"
            >ConfusionMatrixProto</a></td>
<td>A message to contain the evaluation
results of an object detection
algorithm. Contains the confusion
matrices for the classes in a dataset
accumulated over a certain number of
images in the dataset.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#detections2proto" class="reference internal" data-cms-ai="0"
            >Detections2Proto</a></td>
<td>A message containing detections made by
sensor(s), in the 2D image space Each
detection has a bounding box and/or 2D
pose, label, and confidence</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#detections3proto" class="reference internal" data-cms-ai="0"
            >Detections3Proto</a></td>
<td>A message containing detections made by
sensor(s), in the 3D space Each
detection has a 3D pose, label, and
confidence</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#predictionproto" class="reference internal" data-cms-ai="0"
            >PredictionProto</a></td>
<td>A prediction gives a class name with a
confidence level from 0 to 1</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#skeleton2listproto" class="reference internal" data-cms-ai="0"
            >Skeleton2ListProto</a></td>
<td>Defines a list of Skeleton2Proto
messages.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#skeleton2proto" class="reference internal" data-cms-ai="0"
            >Skeleton2Proto</a></td>
<td>Defines a skeleton with 2D joint
locations. Used for example to describe
a human skeleton detected on an image.</td>
</tr>
<tr class="row-odd"><td rowspan="7"><a class="Link" href="message_api.html#differential-base" class="reference internal" data-cms-ai="0"
            >differential_base</a></td>
<td><a class="Link" href="message_api.html#differentialstate" class="reference internal" data-cms-ai="0"
            >DifferentialState</a></td>
<td>Describes how an entity is moving
through space in a local diverging
coordinate frame.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#differentialtrajectoryplanproto" class="reference internal" data-cms-ai="0"
            >DifferentialTrajectoryPlanProto</a></td>
<td>A trajectory plan for a differential
base consisting of a sequence of states</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#goal2feedbackproto" class="reference internal" data-cms-ai="0"
            >Goal2FeedbackProto</a></td>
<td>A status update which is sent
continuously as a reply to receiving a
goal message. This can be used to keep
track if the robot has arrived at the
destination.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#goal2proto" class="reference internal" data-cms-ai="0"
            >Goal2Proto</a></td>
<td>Describe a goal in a given referential
frame</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#goalwaypointproto" class="reference internal" data-cms-ai="0"
            >GoalWaypointProto</a></td>
<td>A desired target waypoint</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#odometry2proto" class="reference internal" data-cms-ai="0"
            >Odometry2Proto</a></td>
<td>Describes how an entity is moving
through space in a local diverging
coordinate frame.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#plan2proto" class="reference internal" data-cms-ai="0"
            >Plan2Proto</a></td>
<td>Describes a plan in a given referential
frame.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#dynamixel-motors" class="reference internal" data-cms-ai="0"
            >dynamixel_motors</a></td>
<td><a class="Link" href="message_api.html#dynamixelmotorsproto" class="reference internal" data-cms-ai="0"
            >DynamixelMotorsProto</a></td>
<td>Commands commands for a set of dynamixel
motors running for example as a dasy
chain.</td>
</tr>
<tr class="row-odd"><td rowspan="2"><a class="Link" href="message_api.html#fiducial-list" class="reference internal" data-cms-ai="0"
            >fiducial_list</a></td>
<td><a class="Link" href="message_api.html#fiduciallistproto" class="reference internal" data-cms-ai="0"
            >FiducialListProto</a></td>
<td>A list of detected ficucials</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#fiducialproto" class="reference internal" data-cms-ai="0"
            >FiducialProto</a></td>
<td>A fiducial is an object placed in the
field of view of an imaging system for
use as a point of reference or a measure</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#flatscan" class="reference internal" data-cms-ai="0"
            >flatscan</a></td>
<td><a class="Link" href="message_api.html#flatscanproto" class="reference internal" data-cms-ai="0"
            >FlatscanProto</a></td>
<td>A 2D range scan which is essentially a
flat version of the 3D RangeScanProto</td>
</tr>
<tr class="row-even"><td rowspan="3"><a class="Link" href="message_api.html#geometry" class="reference internal" data-cms-ai="0"
            >geometry</a></td>
<td><a class="Link" href="message_api.html#groundplaneproto" class="reference internal" data-cms-ai="0"
            >GroundPlaneProto</a></td>
<td>(deprecated) A message describing the
location of the ground.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#planeproto" class="reference internal" data-cms-ai="0"
            >PlaneProto</a></td>
<td>A plane in three-dimensional space</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#rectangleproto" class="reference internal" data-cms-ai="0"
            >RectangleProto</a></td>
<td>A rectangle using 64-bit doubles</td>
</tr>
<tr class="row-odd"><td rowspan="2"><a class="Link" href="message_api.html#graph" class="reference internal" data-cms-ai="0"
            >graph</a></td>
<td><a class="Link" href="message_api.html#graphproto" class="reference internal" data-cms-ai="0"
            >GraphProto</a></td>
<td>A general graph</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pose2graphproto" class="reference internal" data-cms-ai="0"
            >Pose2GraphProto</a></td>
<td>A graph of Pose2f represented by a list
of poses and a list of weighted edges
between pair of nodes.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#heatmap" class="reference internal" data-cms-ai="0"
            >heatmap</a></td>
<td><a class="Link" href="message_api.html#heatmapproto" class="reference internal" data-cms-ai="0"
            >HeatmapProto</a></td>
<td>Describes the heatmap of probabilities
for different units</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#image" class="reference internal" data-cms-ai="0"
            >image</a></td>
<td><a class="Link" href="message_api.html#imageproto" class="reference internal" data-cms-ai="0"
            >ImageProto</a></td>
<td>An image produced for example by a
camera</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#imu" class="reference internal" data-cms-ai="0"
            >imu</a></td>
<td><a class="Link" href="message_api.html#imuproto" class="reference internal" data-cms-ai="0"
            >ImuProto</a></td>
<td>Message published by an inertial
measurement unit (IMU)</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#joystick-state" class="reference internal" data-cms-ai="0"
            >joystick_state</a></td>
<td><a class="Link" href="message_api.html#joystickstateproto" class="reference internal" data-cms-ai="0"
            >JoystickStateProto</a></td>
<td>Messages published from a gamepad
controller.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#json" class="reference internal" data-cms-ai="0"
            >json</a></td>
<td><a class="Link" href="message_api.html#jsonproto" class="reference internal" data-cms-ai="0"
            >JsonProto</a></td>
<td>A proto transporting a JSON string
encoded as a string</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#led-strip" class="reference internal" data-cms-ai="0"
            >led_strip</a></td>
<td><a class="Link" href="message_api.html#ledstripproto" class="reference internal" data-cms-ai="0"
            >LedStripProto</a></td>
<td>A message to describe a desired state of
a LED display strip</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#map" class="reference internal" data-cms-ai="0"
            >map</a></td>
<td><a class="Link" href="message_api.html#latticeproto" class="reference internal" data-cms-ai="0"
            >LatticeProto</a></td>
<td>The information of a lattice coordinate
system: it contains the name of frame
registered in the PoseTree and the size
of the cells.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#marker-list" class="reference internal" data-cms-ai="0"
            >marker_list</a></td>
<td><a class="Link" href="message_api.html#markerlistproto" class="reference internal" data-cms-ai="0"
            >MarkerListProto</a></td>
<td>Representation of raw marker info
tracked by a motion capture system</td>
</tr>
<tr class="row-odd"><td rowspan="26"><a class="Link" href="message_api.html#math" class="reference internal" data-cms-ai="0"
            >math</a></td>
<td><a class="Link" href="message_api.html#matrix3dproto" class="reference internal" data-cms-ai="0"
            >Matrix3dProto</a></td>
<td>A matrix with dimensions 3x3 using
64-bit floating points</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pose2meanandcovariance" class="reference internal" data-cms-ai="0"
            >Pose2MeanAndCovariance</a></td>
<td>A type containing mean and covariance
for a Pose2</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#pose2samples" class="reference internal" data-cms-ai="0"
            >Pose2Samples</a></td>
<td>A list of samples of type Pose2</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pose2dproto" class="reference internal" data-cms-ai="0"
            >Pose2dProto</a></td>
<td>A pose for 2-dimensional space with
rotation and translation using 64-bit
doubles</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#pose2fproto" class="reference internal" data-cms-ai="0"
            >Pose2fProto</a></td>
<td>A pose for 2-dimensional space with
rotation and translation using 32-bit
floats</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pose3dproto" class="reference internal" data-cms-ai="0"
            >Pose3dProto</a></td>
<td>A pose for 3-dimensional space with
rotation and translation using 64-bit
doubles</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#pose3fproto" class="reference internal" data-cms-ai="0"
            >Pose3fProto</a></td>
<td>A pose for 3-dimensional space with
rotation and translation using 32-bit
floats</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#quaterniondproto" class="reference internal" data-cms-ai="0"
            >QuaterniondProto</a></td>
<td>A quaternion using 64-bit doubles for
example to represent rotations</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#quaternionfproto" class="reference internal" data-cms-ai="0"
            >QuaternionfProto</a></td>
<td>A quaternion using 32-bit floats for
example to represent rotations</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#so2dproto" class="reference internal" data-cms-ai="0"
            >SO2dProto</a></td>
<td>A rotation in 2-dimensional Euclidean
space using 64-bit doubles</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#so2fproto" class="reference internal" data-cms-ai="0"
            >SO2fProto</a></td>
<td>A rotation in 2-dimensional Euclidean
space using 32-bit floats</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#so3dproto" class="reference internal" data-cms-ai="0"
            >SO3dProto</a></td>
<td>A rotation in 3-dimensional Euclidean
space using 64-bit doubles</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#so3fproto" class="reference internal" data-cms-ai="0"
            >SO3fProto</a></td>
<td>A rotation in 3-dimensional Euclidean
space using 32-bit floats</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vector2dproto" class="reference internal" data-cms-ai="0"
            >Vector2dProto</a></td>
<td>A 2-dimensional vector using 64-bit
doubles</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vector2fproto" class="reference internal" data-cms-ai="0"
            >Vector2fProto</a></td>
<td>A 2-dimensional vector using 32-bit
floats</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vector2iproto" class="reference internal" data-cms-ai="0"
            >Vector2iProto</a></td>
<td>A 2-dimensional vector using 32-bit
integers</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vector3dproto" class="reference internal" data-cms-ai="0"
            >Vector3dProto</a></td>
<td>A 3-dimensional vector using 64-bit
doubles</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vector3fproto" class="reference internal" data-cms-ai="0"
            >Vector3fProto</a></td>
<td>A 3-dimensional vector using 32-bit
floats</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vector3iproto" class="reference internal" data-cms-ai="0"
            >Vector3iProto</a></td>
<td>A 3-dimensional vector using 32-bit
integers</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vector3ubproto" class="reference internal" data-cms-ai="0"
            >Vector3ubProto</a></td>
<td>A 3-dimensional vector using unsigned
8-bit integers</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vector4dproto" class="reference internal" data-cms-ai="0"
            >Vector4dProto</a></td>
<td>A 4-dimensional vector using 64-bit
doubles</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vector4fproto" class="reference internal" data-cms-ai="0"
            >Vector4fProto</a></td>
<td>A 4-dimensional vector using 32-bit
floats</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vector4iproto" class="reference internal" data-cms-ai="0"
            >Vector4iProto</a></td>
<td>A 4-dimensional vector using 32-bit
integers</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vectorxdproto" class="reference internal" data-cms-ai="0"
            >VectorXdProto</a></td>
<td>A X-dimensional vector using 64-bit
doubles</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vectorxfproto" class="reference internal" data-cms-ai="0"
            >VectorXfProto</a></td>
<td>A X-dimensional vector using 32-bit
floats</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#vectorxiproto" class="reference internal" data-cms-ai="0"
            >VectorXiProto</a></td>
<td>A X-dimensional vector using 32-bit
integers</td>
</tr>
<tr class="row-odd"><td rowspan="2"><a class="Link" href="message_api.html#mission" class="reference internal" data-cms-ai="0"
            >mission</a></td>
<td><a class="Link" href="message_api.html#missionproto" class="reference internal" data-cms-ai="0"
            >MissionProto</a></td>
<td>A message representing a mission to run
by the application. A mission consists
of a ISAAC configuration to apply to the
application as well as a behavior tree
to trigger. The application
configuration is embedded in the
MissionProto message and the behavior
tree depends on which components
receives the MissionProto.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#missionstatusproto" class="reference internal" data-cms-ai="0"
            >MissionStatusProto</a></td>
<td>A message which identifies the status of
a mission started by a MissionProto
message. This message is sent out as a
response to a MissionProto message to
indicate that a mission has begun or to
indicate that a mission has completed.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#obstacles" class="reference internal" data-cms-ai="0"
            >obstacles</a></td>
<td><a class="Link" href="message_api.html#obstaclesproto" class="reference internal" data-cms-ai="0"
            >ObstaclesProto</a></td>
<td>A message containing all obstacles
around the robot</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#ping" class="reference internal" data-cms-ai="0"
            >ping</a></td>
<td><a class="Link" href="message_api.html#pingproto" class="reference internal" data-cms-ai="0"
            >PingProto</a></td>
<td>A generic message to ping another node
with a private message.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#point-cloud" class="reference internal" data-cms-ai="0"
            >point_cloud</a></td>
<td><a class="Link" href="message_api.html#pointcloudproto" class="reference internal" data-cms-ai="0"
            >PointCloudProto</a></td>
<td>A message containing information about a
set of points , also called “point
cloud”. Points can have various
attributes. This message provides the
position of the point in 3D space, a
normal, a color and an intensity. Point
attributes are each stored as NxM
tensors. N is the number points which
has to be identical for all attributes
or 0. M is the dimension of the
corresponding attribute.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pose-tree" class="reference internal" data-cms-ai="0"
            >pose_tree</a></td>
<td><a class="Link" href="message_api.html#posetreeproto" class="reference internal" data-cms-ai="0"
            >PoseTreeProto</a></td>
<td>Pose tree/kinematic tree: hierarchical
kinematic representation</td>
</tr>
<tr class="row-odd"><td rowspan="2"><a class="Link" href="message_api.html#pwm-channel-set" class="reference internal" data-cms-ai="0"
            >pwm_channel_set</a></td>
<td><a class="Link" href="message_api.html#pwmchannelsetdutycycleproto" class="reference internal" data-cms-ai="0"
            >PwmChannelSetDutyCycleProto</a></td>
<td>Set a duty cycle for a given PWM channel</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#pwmchannelsetpulselengthproto" class="reference internal" data-cms-ai="0"
            >PwmChannelSetPulseLengthProto</a></td>
<td>Set a pulse length for a given PWM
channel</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#range-scan" class="reference internal" data-cms-ai="0"
            >range_scan</a></td>
<td><a class="Link" href="message_api.html#rangescanproto" class="reference internal" data-cms-ai="0"
            >RangeScanProto</a></td>
<td>A message about laser range scans
published for example from a LIDAR
sensor The message does not have to
capture a full 360 degree scan, as most
sensors publish partial slices at high
frequency instead of waiting to complete
a full scan.</td>
</tr>
<tr class="row-even"><td rowspan="2"><a class="Link" href="message_api.html#rigid-body-3-group" class="reference internal" data-cms-ai="0"
            >rigid_body_3_group</a></td>
<td><a class="Link" href="message_api.html#rigidbody3groupproto" class="reference internal" data-cms-ai="0"
            >RigidBody3GroupProto</a></td>
<td>A list of rigid bodies in a certain
coordinate frame</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#rigidbody3proto" class="reference internal" data-cms-ai="0"
            >RigidBody3Proto</a></td>
<td>A rigid body in 3D</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#robot-state" class="reference internal" data-cms-ai="0"
            >robot_state</a></td>
<td><a class="Link" href="message_api.html#robotstateproto" class="reference internal" data-cms-ai="0"
            >RobotStateProto</a></td>
<td>The robot state at that particular
instance of time. The proto stores the
current position and angle, as well as
the difference between the previous
values of the states (position and
angle). Also contains the current linear
and angular speed, obtained from
odometry input</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#segmentation-prediction" class="reference internal" data-cms-ai="0"
            >segmentation_prediction</a></td>
<td><a class="Link" href="message_api.html#segmentationpredictionproto" class="reference internal" data-cms-ai="0"
            >SegmentationPredictionProto</a></td>
<td>Segmentation prediction proto stores the
probability distribution over classes
for each pixel in a three dimensional
tensor. The probability will add up to
one for each pixel.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#state" class="reference internal" data-cms-ai="0"
            >state</a></td>
<td><a class="Link" href="message_api.html#stateproto" class="reference internal" data-cms-ai="0"
            >StateProto</a></td>
<td>A message used to transport states of
dynamic systems. This is used closely
together with the state gem to be found
in //engine/gems/state. For example you
can define the robot state using the
compile-time types defined in that gem,
and then serialize that state into a
message. The receiver of that message
can deserialize the state back into the
compile-time robot state type.</td>
</tr>
<tr class="row-odd"><td rowspan="2"><a class="Link" href="message_api.html#superpixels" class="reference internal" data-cms-ai="0"
            >superpixels</a></td>
<td><a class="Link" href="message_api.html#superpixellabelsproto" class="reference internal" data-cms-ai="0"
            >SuperpixelLabelsProto</a></td>
<td>Labels for superpixels. Assigns a label
to every superpixel in a related
SuperpixelsProto</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#superpixelsproto" class="reference internal" data-cms-ai="0"
            >SuperpixelsProto</a></td>
<td>A superpixel oversegmentation for an
image. This is useful for various image
segmentation methods or perception
algorithms in general. # Each pixel in
the image is assigned to a superpixel.
For each superpixel information like the
pixel coordinate or the color are
reported. Optionally also 3D data like
point and normal are reported.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#tensor" class="reference internal" data-cms-ai="0"
            >tensor</a></td>
<td><a class="Link" href="message_api.html#tensorproto" class="reference internal" data-cms-ai="0"
            >TensorProto</a></td>
<td>A n-dimensional tensor</td>
</tr>
<tr class="row-even"><td rowspan="2"><a class="Link" href="message_api.html#trajectory" class="reference internal" data-cms-ai="0"
            >trajectory</a></td>
<td><a class="Link" href="message_api.html#vector3trajectorylistproto" class="reference internal" data-cms-ai="0"
            >Vector3TrajectoryListProto</a></td>
<td>A list of trajectories with three
dimensions. For example, one might
consider the multiple trajectories for
given bodies.</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#vector3trajectoryproto" class="reference internal" data-cms-ai="0"
            >Vector3TrajectoryProto</a></td>
<td>A trajectory with three dimensions. The
trajectory is composed of a time series
of positions in reference to a given
frame. For example, one might consider
the trajectory of a moving target. Note:
The timestamps may be omitted, in which
case the trajectory is equivalent to a
path.</td>
</tr>
<tr class="row-even"><td><a class="Link" href="message_api.html#uuid" class="reference internal" data-cms-ai="0"
            >uuid</a></td>
<td><a class="Link" href="message_api.html#uuidproto" class="reference internal" data-cms-ai="0"
            >UuidProto</a></td>
<td>A unique identifier following the UUID
specifications</td>
</tr>
<tr class="row-odd"><td><a class="Link" href="message_api.html#voice-command-detection" class="reference internal" data-cms-ai="0"
            >voice_command_detection</a></td>
<td><a class="Link" href="message_api.html#voicecommanddetectionproto" class="reference internal" data-cms-ai="0"
            >VoiceCommandDetectionProto</a></td>
<td>Message containing detected command id
and list of timestamps of contributing
keywords</td>
</tr>

 </tbody>
</table>

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<h2 id="actor-group">actor_group</h2>
</a>

<a href="message_api.html#actorgroupproto" data-cms-ai="0">
<h3 id="actorgroupproto">ActorGroupProto</h3>
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            <code><p><i># A message to request creation and destruction of actors in simulator</i>
<span class="k">struct</span> <span class="n">ActorGroupProto</span> {
  <i># A request to spawn a new actor</i>
  <span class="k">struct</span> <span class="n">SpawnRequest</span> {
    <i># The name given to the spawned actor. This name does not need to be unique. If multiple spawned</i>
    <i># actors have the same name, the subsequent requests apply to all of them.</i>
    <span class="n">name</span> @0: Text;
    <i># The object template the spawned actor is instantiated from (e.g. a prefab name in Unity)</i>
    <span class="n">prefab</span> @1: Text;
    <i># The pose to set the spawned actor (in the simulator's reference frame)</i>
    <span class="n">pose</span> @2: Pose3dProto;
  }
  <i># List of spawn requests</i>
  <span class="n">spawnRequests</span> @0: List(SpawnRequest);
  <i># List of names of actors to destroy.</i>
  <span class="n">destroyRequests</span> @1: List(Text);
}</p></code>
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</p>
<a href="message_api.html#actorgroupstatusproto" data-cms-ai="0">
<h3 id="actorgroupstatusproto">ActorGroupStatusProto</h3>
</a>
<p>
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            <code><p><i># A message as response to ActorGroupProto, listing current actors in the scene.</i>
<span class="k">struct</span> <span class="n">ActorGroupStatusProto</span> {
  <i># Currently alive actors</i>
  <span class="n">actors</span> @0: List(Text);
  <i># Actors that are spawned in last tick (optional)</i>
  <span class="n">spawnedActors</span> @1: List(Text);
  <i># Actors that are destroyed in last tick (optional)</i>
  <span class="n">destroyedActors</span> @2: List(Text);
}</p></code>
        </pre>
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</p>

<a href="message_api.html#alice" data-cms-ai="0">
<h2 id="alice">alice</h2>
</a>

<a href="message_api.html#logmessageproto" data-cms-ai="0">
<h3 id="logmessageproto">LogMessageProto</h3>
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            <code><p><i># Header for logging messages</i>
<span class="k">struct</span> <span class="n">LogMessageProto</span> {
  <span class="n">acqtime</span> @0: Int64;
  <span class="n">pubtime</span> @1: Int64;
  <span class="n">contentsUuid</span> @2: UuidProto;
}</p></code>
        </pre>
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</p>
<a href="message_api.html#messagechannelindexproto" data-cms-ai="0">
<h3 id="messagechannelindexproto">MessageChannelIndexProto</h3>
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            <code><p><i># An index containing all message channels in a log</i>
<span class="k">struct</span> <span class="n">MessageChannelIndexProto</span> {
  <span class="k">struct</span> <span class="n">MessageChannel</span> {
    <i># UUID of the app component</i>
    <span class="n">componentUuid</span> @0: UuidProto;
    <i># Tag of the message channel (as specified in ISAAC_PROTO_TX)</i>
    <span class="n">tag</span> @1: Text;
    <i># Series UUID under which messages are stored in the log</i>
    <span class="n">seriesUuid</span> @2: UuidProto;
  }
  <span class="n">channels</span> @0: List(MessageChannel);
}</p></code>
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<a href="message_api.html#messageheaderproto" data-cms-ai="0">
<h3 id="messageheaderproto">MessageHeaderProto</h3>
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            <code><p><i># A message header which is sent together with the actual message.</i>
<i># It allows the remote to forward the message to the correct receiver and it also provides timing</i>
<i># information based on the transmitter clock.</i>
<span class="k">struct</span> <span class="n">MessageHeaderProto</span> {
  <i># Uniquely identifies a message across all systems</i>
  <span class="n">uuid</span> @0: UuidProto;
  <i># Uniquely identifies a proto type across all systems</i>
  <span class="n">proto</span> @1: Int64;
  <i># A channel identifier which is used to route messages</i>
  <span class="n">channel</span> @2: Text;
  <i># A (local) timestamp in nanoseconds which describes when data relevant for this message was</i>
  <i># acquired by the hardware.</i>
  <span class="n">acqtime</span> @3: Int64;
  <i># A (local) timestamp in nanoseconds which describes when the message was published.</i>
  <span class="n">pubtime</span> @4: Int64;
  <i># Total length (in bytes) of message header and message payload</i>
  <span class="n">messageLength</span> @5: UInt32;
  <i># Lengths (in bytes) of proto segments</i>
  <span class="n">segmentLengths</span> @6: List(UInt32);
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#posetreeedgeproto" data-cms-ai="0">
<h3 id="posetreeedgeproto">PoseTreeEdgeProto</h3>
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            <code><p><i># Information about the pose relation between two coordinate frames.</i>
<span class="k">struct</span> <span class="n">PoseTreeEdgeProto</span> {
  <i># Name of "left" frame, i.e. `lhs` for a pose `lhs_T_rhs`</i>
  <span class="n">lhs</span> @0: Text;
  <i># Name of "right" frame, i.e. `rhs` for a pose `lhs_T_rhs`</i>
  <span class="n">rhs</span> @1: Text;
  <i># The pose between the two frames using the orientation `lhs_T_rhs`</i>
  <span class="n">pose</span> @2: Pose3dProto;
}</p></code>
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<p>
<br>

</p>
<a href="message_api.html#udppackageheaderproto" data-cms-ai="0">
<h3 id="udppackageheaderproto">UdpPackageHeaderProto</h3>
</a>
<p>
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            <code><p><i># A small header for every package we send over a UDP socket.</i>
<i># It allows the remote to reassemble the message</i>
<span class="k">struct</span> <span class="n">UdpPackageHeaderProto</span> {
  <i># Uniquely identifies a message across all systems</i>
  <span class="n">uuid</span> @0: UuidProto;
  <i># The total length of the message (header plus message payload) in bytes</i>
  <span class="n">messageLength</span> @1: UInt32;
  <i># The index of this package (assuming a fixed package size). The message header is always a</i>
  <i># single package which comes first.</i>
  <span class="n">packageIndex</span> @2: UInt16;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#audio-data" data-cms-ai="0">
<h2 id="audio-data">audio_data</h2>
</a>

<a href="message_api.html#audiodataproto" data-cms-ai="0">
<h3 id="audiodataproto">AudioDataProto</h3>
</a>
<p>
</p><bsp-code-block class="CodeBlock test" data-module="standard" data-language="" data-noAnnotations

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            <code><p><i># Message containing input to the audio playback module</i>
<span class="k">struct</span> <span class="n">AudioDataProto</span> {
  <i># Audio Sample Rate (eg. 44100, 48000, 96000, 192000)</i>
  <span class="n">sampleRate</span> @0: UInt32;
  <i># Number of channels in the Audio packet</i>
  <span class="n">numChannels</span> @1: UInt8;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#audio-file-playback" data-cms-ai="0">
<h2 id="audio-file-playback">audio_file_playback</h2>
</a>

<a href="message_api.html#audiofileplaybackproto" data-cms-ai="0">
<h3 id="audiofileplaybackproto">AudioFilePlaybackProto</h3>
</a>
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            <code><p><i># Notifies the audio file loader module the file to play</i>
<span class="k">struct</span> <span class="n">AudioFilePlaybackProto</span> {
  <i># File index</i>
  <span class="n">fileIndex</span> @0: UInt8;
}</p></code>
        </pre>
    </div>
    
</bsp-code-block>
<p>
</p>

<a href="message_api.html#camera" data-cms-ai="0">
<h2 id="camera">camera</h2>
</a>

<a href="message_api.html#cameraintrinsicsproto" data-cms-ai="0">
<h3 id="cameraintrinsicsproto">CameraIntrinsicsProto</h3>
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            <code><p><i># Intrinsic camera parameters</i>
<span class="k">struct</span> <span class="n">CameraIntrinsicsProto</span> {
  <i># Pinhole parameters are mandatory for all camera images</i>
  <span class="n">pinhole</span> @0: PinholeProto;
  <i># Distortion coefficients are optional and may be null for undistorted images</i>
  <span class="n">distortion</span> @1: DistortionProto;
}</p></code>
        </pre>
    </div>
    
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<p>
<br>

</p>
<a href="message_api.html#colorcameraproto" data-cms-ai="0">
<h3 id="colorcameraproto">ColorCameraProto</h3>
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            <code><p><i># An image published by a color (or grayscale) camera</i>
<span class="k">struct</span> <span class="n">ColorCameraProto</span> {
  <i># Actual image captured by the camera. The pixel type depends on the type of camera. Most commonly</i>
  <i># it could be a single 8-bit integer for a grayscale camera, or a three 8-bit integers for a</i>
  <i># color camera.</i>
  <span class="n">image</span> @0: ImageProto;
  <i># The choices available for color space</i>
  <span class="k">enum</span> <span class="n">ColorSpace</span> {
    <span class="n">grayscale</span> @0;
    <span class="n">rgb</span> @1;
    <span class="n">bgr</span> @2;
    <span class="n">yuv</span> @3;
    <span class="n">rgba</span> @4;
  }
  <i># Color space used by the image</i>
  <span class="n">colorSpace</span> @1: ColorSpace;
  <i># Intrinsic camera parameters</i>
  <span class="n">pinhole</span> @2: PinholeProto;
  <span class="n">distortion</span> @3: DistortionProto;
}</p></code>
        </pre>
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<p>
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</p>
<a href="message_api.html#depthcameraproto" data-cms-ai="0">
<h3 id="depthcameraproto">DepthCameraProto</h3>
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            <code><p><i># Depth information for an image</i>
<span class="k">struct</span> <span class="n">DepthCameraProto</span> {
  <i># A depth value for every pixel in the image. The pixel type is a single 32-bit float.</i>
  <span class="n">depthImage</span> @0: ImageProto;
  <i># The minimum and maximum depth used</i>
  <span class="n">minDepth</span> @1: Float32;
  <span class="n">maxDepth</span> @2: Float32;
  <i># Intrinsic camera parameters</i>
  <span class="n">pinhole</span> @3: PinholeProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#disparitycameraproto" data-cms-ai="0">
<h3 id="disparitycameraproto">DisparityCameraProto</h3>
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            <code><p><i># Disparity information for an image</i>
<span class="k">struct</span> <span class="n">DisparityCameraProto</span> {
  <i># A disparity value for every pixel in the image. The pixel type is a single 32-bit float.</i>
  <span class="n">disparityImage</span> @0: ImageProto;
  <i># The minimum value that a pixel could be in the disparityImage.</i>
  <i># This should be greater than zero so that a maximum depth can be computed.</i>
  <span class="n">minimumDisparity</span> @1: Float32;
  <i># The maximum value that a pixel could be in the disparityImage.</i>
  <span class="n">maximumDisparity</span> @2: Float32;
  <i># The distance between the two stereo cameras (in meters).</i>
  <span class="n">cameraBaseline</span> @3: Float32;
  <i># Intrinsic camera parameters</i>
  <span class="n">pinhole</span> @4: PinholeProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#distortionproto" data-cms-ai="0">
<h3 id="distortionproto">DistortionProto</h3>
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            <code><p><i># Distortion parameters for a camera image</i>
<span class="k">struct</span> <span class="n">DistortionProto</span> {
  <i># The choices available for the distortion model</i>
  <span class="k">enum</span> <span class="n">DistortionModel</span> {
    <i># Brown distortion model with 3 radial and 2 tangential distortion</i>
    <i># coefficients: (r0 r1 r2 t0 t1)</i>
    <span class="n">brown</span> @0;
    <i># Fisheye (wide-angle) distortion. 4 radial (r0, r1, r2, r3) distortion coefficients</i>
    <span class="n">fisheye</span> @1;
  }
  <i># Distortion model and coefficients</i>
  <span class="n">model</span> @0: DistortionModel;
  <span class="n">coefficients</span> @1: VectorXdProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pinholeproto" data-cms-ai="0">
<h3 id="pinholeproto">PinholeProto</h3>
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            <code><p><i># Pinhole camera model parameters</i>
<span class="k">struct</span> <span class="n">PinholeProto</span> {
  <i># Resolution of the camera</i>
  <span class="n">rows</span> @0: Int16;
  <span class="n">cols</span> @1: Int16;
  <i># Focal length of the camera in pixel (0: row, 1: col)</i>
  <span class="n">focal</span> @2: Vector2dProto;
  <i># Optical center of the camera in pixel (0: row, 1: col)</i>
  <span class="n">center</span> @3: Vector2dProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#segmentationcameraproto" data-cms-ai="0">
<h3 id="segmentationcameraproto">SegmentationCameraProto</h3>
</a>
<p>
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            <code><p><i># Pixel-wise class label and instance segmentations for an image</i>
<span class="k">struct</span> <span class="n">SegmentationCameraProto</span> {
  <i># A image which stores a class label for every pixel. The pixel type is a single unsigned 8-bit</i>
  <i># integer.</i>
  <span class="n">labelImage</span> @0: ImageProto;
  <i># A label used to enumerate all labels in the `labels` field below</i>
  <span class="k">struct</span> <span class="n">Label</span> {
    <i># The integer value stored in the `labelImage`</i>
    <span class="n">index</span> @0: UInt8;
    <i># The name of the label</i>
    <span class="n">name</span> @1: Text;
  }
  <i># List of all labels used in labelImage</i>
  <span class="n">labels</span> @1: List(Label);
  <i># A image which stores an instance index for every pixel. Different objects with the same</i>
  <i># label will get different instance indices. The pixel type is a single unsigned 16-bit integer.</i>
  <span class="n">instanceImage</span> @2: ImageProto;
  <i># Intrinsic camera parameters</i>
  <span class="n">pinhole</span> @3: PinholeProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#chat-message" data-cms-ai="0">
<h2 id="chat-message">chat_message</h2>
</a>

<a href="message_api.html#chatmessageproto" data-cms-ai="0">
<h3 id="chatmessageproto">ChatMessageProto</h3>
</a>
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            <code><p><i># A chat message</i>
<span class="k">struct</span> <span class="n">ChatMessageProto</span> {
  <i># The user name of the sender</i>
  <span class="n">user</span> @0: Text;
  <i># A channel on which the message was posted</i>
  <span class="n">channel</span> @1: Text;
  <i># The text sent by the user</i>
  <span class="n">text</span> @2: Text;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#collision" data-cms-ai="0">
<h2 id="collision">collision</h2>
</a>

<a href="message_api.html#collisionproto" data-cms-ai="0">
<h3 id="collisionproto">CollisionProto</h3>
</a>
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            <code><p><i># A collision event information</i>
<span class="k">struct</span> <span class="n">CollisionProto</span> {
  <i># The name of this collider</i>
  <span class="n">thisName</span> @0: Text;
  <i># The name of the other collider</i>
  <span class="n">otherName</span> @1: Text;
  <i># The pose of this collider with respect to its reference coordinate frame</i>
  <span class="n">thisPose</span> @2: Pose3dProto;
  <i># The pose of the other collider with respect to the same reference coordinate frame</i>
  <span class="n">otherPose</span> @3: Pose3dProto;
  <i># contact point of the collision in the reference coordinate frame</i>
  <span class="n">contactPoint</span> @4: Vector3dProto;
  <i># normal of the contact point in the reference coordinate frame</i>
  <span class="n">contactNormal</span> @5: Vector3dProto;
  <i># The relative linear velocity between the two colliding objects in the reference coordinate frame</i>
  <span class="n">velocity</span> @6: Vector3dProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#composite" data-cms-ai="0">
<h2 id="composite">composite</h2>
</a>

<a href="message_api.html#compositeproto" data-cms-ai="0">
<h3 id="compositeproto">CompositeProto</h3>
</a>
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            <code><p><i># A type containing measurable quantities for a bag of entities.</i>
<span class="k">struct</span> <span class="n">CompositeProto</span> {
  <i># Describes the unit or type which was used to measure a value.</i>
  <span class="k">enum</span> <span class="n">Measure</span> {
    <span class="n">none</span> @0;
    <i># [s]</i>
    <span class="n">time</span> @1;
    <i># [kg]</i>
    <span class="n">mass</span> @2;
    <i># [1] or [m]</i>
    <span class="n">position</span> @3;
    <i># [1/s] or [m/s]</i>
    <span class="n">speed</span> @4;
    <i># [1/s^2] or [m/s^2]</i>
    <span class="n">acceleration</span> @5;
    <i># [rad]</i>
    <span class="n">rotation</span> @6;
    <i># [rad/s]</i>
    <span class="n">angularSpeed</span> @7;
    <i># [rad/s^2]</i>
    <span class="n">angularAcceleration</span> @8;
    <i># a normal</i>
    <span class="n">normal</span> @9;
    <i># a color</i>
    <span class="n">color</span> @10;
  }
  <i># Meta data for a value describing its semantic meaning</i>
  <span class="k">struct</span> <span class="n">Quantity</span> {
    <i># The name of the entity of this quantity</i>
    <span class="n">entity</span> @0: Text;
    <i># Describes the machine representation type of the quantity</i>
    <span class="n">elementType</span> @1: ElementType;
    <i># A hint for the semantic meaning of the quantity</i>
    <span class="n">measure</span> @2: Measure;
    <i># The dimensions of a potentially multi-dimensional quantity. Can be omitted for scalars.</i>
    <span class="n">dimensions</span> @3: VectorXiProto;
  }
  <i># A list of all quantities in this composite</i>
  <span class="n">quantities</span> @0: List(Quantity);
  <i># A hash representing the schema which can be used to check if two schemas are identical</i>
  <span class="n">schemaHash</span> @1: Text;
  <i># The quantity values as described in the quantity schema. Can a vector, a matrix for representing</i>
  <i># time series, or a rank-3 tensor for batches of time series</i>
  <span class="n">values</span> @2: TensorProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#detections" data-cms-ai="0">
<h2 id="detections">detections</h2>
</a>

<a href="message_api.html#confusionmatrixproto" data-cms-ai="0">
<h3 id="confusionmatrixproto">ConfusionMatrixProto</h3>
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            <code><p><i># A message to contain the evaluation results of an object detection algorithm. Contains the</i>
<i># confusion matrices for the classes in a dataset accumulated over a certain number of images in</i>
<i># the dataset.</i>
<span class="k">struct</span> <span class="n">ConfusionMatrixProto</span> {
  <i># Number of samples these metrics were accumulated over. If 1, then the confusion matrices hold</i>
  <i># the results for a single sample. If greater than 1, then the counts that are contained in the</i>
  <i># confusion matrices are summed over accumulated samples.</i>
  <span class="n">numSamples</span> @0: Int64;
  <i># List of threshold values used to compute the metrics for each class. Each threshold</i>
  <i># corresponds to one confusion matrix in the confusionMatrices Tensor.</i>
  <i># The metric on which the threshold is applied is dependent on the task. In case of object</i>
  <i># detection, the threshold is typically applied for the IoU (Intersection over Union) score</i>
  <i># between two bounding boxes.</i>
  <span class="n">thresholds</span> @1: List(Float64);
  <i># Tensor with dimensions (actual class * predicted class * IoU), where a slice of the tensor</i>
  <i># across a single IoU is a confusion matrix. (See https://en.wikipedia.org/wiki/Confusion_matrix)</i>
  <i># Each confusion matrix is calculated using the corresponding IoU threshold, which determines the</i>
  <i># tolerance to bounding box error. A lower IoU corresponds to greater tolerance to bbox error.</i>
  <span class="n">confusionMatrices</span> @2: TensorProto;
}</p></code>
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<p>
<br>

</p>
<a href="message_api.html#detections2proto" data-cms-ai="0">
<h3 id="detections2proto">Detections2Proto</h3>
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            <code><p><i># A message containing detections made by sensor(s), in the 2D image space</i>
<i># Each detection has a bounding box and/or 2D pose, label, and confidence</i>
<span class="k">struct</span> <span class="n">Detections2Proto</span> {
  <i># List of predictions made</i>
  <span class="n">predictions</span> @0: List(PredictionProto);
  <i># List of 2D bounding boxes where we detected objects</i>
  <span class="n">boundingBoxes</span> @1: List(RectangleProto);
  <i># List of 2D poses of objects detected. Optional field.</i>
  <span class="n">poses</span> @2: List(Pose2dProto);
}</p></code>
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<a href="message_api.html#detections3proto" data-cms-ai="0">
<h3 id="detections3proto">Detections3Proto</h3>
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            <code><p><i># A message containing detections made by sensor(s), in the 3D space</i>
<i># Each detection has a 3D pose, label, and confidence</i>
<span class="k">struct</span> <span class="n">Detections3Proto</span> {
  <i># List of predictions made</i>
  <span class="n">predictions</span> @0: List(PredictionProto);
  <i># List of 3D poses of objects detected relative to the sensor frame</i>
  <span class="n">poses</span> @1: List(Pose3dProto);
}</p></code>
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<p>
<br>

</p>
<a href="message_api.html#predictionproto" data-cms-ai="0">
<h3 id="predictionproto">PredictionProto</h3>
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            <code><p><i># A prediction gives a class name with a confidence level from 0 to 1</i>
<span class="k">struct</span> <span class="n">PredictionProto</span> {
  <i># Name or label for the detection</i>
  <span class="n">label</span> @0: Text;
  <i># A general value to indicate how confident we are about the detection.</i>
  <i># This could for example be provided by a perception algorithm like a</i>
  <i># neural network bounding box detector.</i>
  <span class="n">confidence</span> @1: Float64;
}</p></code>
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<p>
<br>

</p>
<a href="message_api.html#skeleton2listproto" data-cms-ai="0">
<h3 id="skeleton2listproto">Skeleton2ListProto</h3>
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            <code><p><i># Defines a list of Skeleton2Proto messages.</i>
<span class="k">struct</span> <span class="n">Skeleton2ListProto</span> {
  <i># List of skeleton models</i>
  <span class="n">skeletons</span> @0: List(Skeleton2Proto);
}</p></code>
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<a href="message_api.html#skeleton2proto" data-cms-ai="0">
<h3 id="skeleton2proto">Skeleton2Proto</h3>
</a>
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            <code><p><i># Defines a skeleton with 2D joint locations. Used for example to describe</i>
<i># a human skeleton detected on an image.</i>
<span class="k">struct</span> <span class="n">Skeleton2Proto</span> {
  <i># A graph defining the topology of the skeleton.</i>
  <span class="n">graph</span> @0: GraphProto;
  <i># Information about a joint in the skeleton</i>
  <span class="k">struct</span> <span class="n">Joint2Proto</span> {
    <i># Location of the joint, for example image pixel coordinates.</i>
    <span class="n">position</span> @0: Vector2dProto;
    <i># A label and confidence, describing the prediction of the joint</i>
    <span class="n">label</span> @1: PredictionProto;
  }
  <i># Detailed information for every joint in the skeleton. The number of</i>
  <i># joints must be identical to the number of nodes in the graph.</i>
  <span class="n">joints</span> @1: List(Joint2Proto);
  <i># A label and confidence, describing the prediction of the skeleton</i>
  <span class="n">label</span> @2: PredictionProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#differential-base" data-cms-ai="0">
<h2 id="differential-base">differential_base</h2>
</a>

<a href="message_api.html#differentialstate" data-cms-ai="0">
<h3 id="differentialstate">DifferentialState</h3>
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            <code><p><i># Describes how an entity is moving through space in a local diverging coordinate frame.</i>
<span class="k">struct</span> <span class="n">DifferentialState</span> {
  <span class="n">positionX</span> @0: Float64;
  <span class="n">positionY</span> @1: Float64;
  <span class="n">heading</span> @2: Float64;
  <span class="n">speedX</span> @3: Float64;
  <span class="n">speedY</span> @4: Float64;
  <span class="n">angularSpeed</span> @5: Float64;
  <span class="n">timestamp</span> @6: Float64;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#differentialtrajectoryplanproto" data-cms-ai="0">
<h3 id="differentialtrajectoryplanproto">DifferentialTrajectoryPlanProto</h3>
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            <code><p><i># A trajectory plan for a differential base consisting of a sequence of states</i>
<span class="k">struct</span> <span class="n">DifferentialTrajectoryPlanProto</span> {
  <i># List of states the robot will need to be.</i>
  <span class="n">states</span> @0: List(DifferentialState);
  <i># name of the frame the plan is</i>
  <span class="n">planFrame</span> @1: Text;
}</p></code>
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<p>
<br>

</p>
<a href="message_api.html#goal2feedbackproto" data-cms-ai="0">
<h3 id="goal2feedbackproto">Goal2FeedbackProto</h3>
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            <code><p><i># A status update which is sent continuously as a reply to receiving a goal message. This can be</i>
<i># used to keep track if the robot has arrived at the destination.</i>
<span class="k">struct</span> <span class="n">Goal2FeedbackProto</span> {
  <i># Remaining relative pose to the goal, or identity in case hasGoal is false.</i>
  <span class="n">robotTGoal</span> @0: Pose2dProto;
  <i># Whether the robot currently has a goal</i>
  <span class="n">hasGoal</span> @1: Bool;
  <i># Whether the robot considers himself to be arrived at the target</i>
  <span class="n">hasArrived</span> @2: Bool;
  <i># Whether the robot considers himself to not move anymore</i>
  <span class="n">isStationary</span> @3: Bool;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#goal2proto" data-cms-ai="0">
<h3 id="goal2proto">Goal2Proto</h3>
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            <code><p><i># Describe a goal in a given referential frame</i>
<span class="k">struct</span> <span class="n">Goal2Proto</span> {
  <i># The goal expressed in Pose2</i>
  <span class="n">goal</span> @0: Pose2dProto;
  <i># the tolerance radius of the goal.</i>
  <span class="n">tolerance</span> @1: Float32;
  <i># name of the frame the goal is.</i>
  <span class="n">goalFrame</span> @2: Text;
  <i># Whether or not we should stop the robot. If set to true all the other parameters will be ignored</i>
  <span class="n">stopRobot</span> @3: Bool;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#goalwaypointproto" data-cms-ai="0">
<h3 id="goalwaypointproto">GoalWaypointProto</h3>
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            <code><p><i># A desired target waypoint</i>
<span class="k">struct</span> <span class="n">GoalWaypointProto</span> {
  <i># the name of the waypoint</i>
  <span class="n">waypoint</span> @0: Text;
}</p></code>
        </pre>
    </div>
    
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<p>
<br>

</p>
<a href="message_api.html#odometry2proto" data-cms-ai="0">
<h3 id="odometry2proto">Odometry2Proto</h3>
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            <code><p><i># Describes how an entity is moving through space in a local diverging coordinate frame.</i>
<span class="k">struct</span> <span class="n">Odometry2Proto</span> {
  <i># The pose of the "robot" relative to the reference odometric frame</i>
  <span class="n">odomTRobot</span> @0: Pose2dProto;
  <span class="n">speed</span> @1: Vector2dProto;
  <span class="n">angularSpeed</span> @2: Float64;
  <span class="n">acceleration</span> @3: Vector2dProto;
  <i># Contains the name of the odometry frame and the robot frame.</i>
  <span class="n">odometryFrame</span> @4: Text;
  <span class="n">robotFrame</span> @5: Text;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#plan2proto" data-cms-ai="0">
<h3 id="plan2proto">Plan2Proto</h3>
</a>
<p>
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            <code><p><i># Describes a plan in a given referential frame.</i>
<span class="k">struct</span> <span class="n">Plan2Proto</span> {
  <i># List of poses the robot need to go through</i>
  <span class="n">poses</span> @0: List(Pose2dProto);
  <i># name of the frame the plan is.</i>
  <span class="n">planFrame</span> @1: Text;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#dynamixel-motors" data-cms-ai="0">
<h2 id="dynamixel-motors">dynamixel_motors</h2>
</a>

<a href="message_api.html#dynamixelmotorsproto" data-cms-ai="0">
<h3 id="dynamixelmotorsproto">DynamixelMotorsProto</h3>
</a>
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            <code><p><i># Commands commands for a set of dynamixel motors running for example as a dasy chain.</i>
<span class="k">struct</span> <span class="n">DynamixelMotorsProto</span> {
  <i># Motor protos</i>
  <span class="k">struct</span> <span class="n">MotorProto</span> {
    <i># Motor ID</i>
    <span class="n">id</span> @0: Int64;
    <i># Current position</i>
    <span class="n">position</span> @1: Int16;
    <i># Tick in milliseconds since startup</i>
    <span class="n">tick</span> @2: Int64;
    <i># Is the servo moving</i>
    <span class="n">moving</span> @3: Bool;
  }
  <i># A single command per motor</i>
  <span class="n">motors</span> @0: List(MotorProto);
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#element-type" data-cms-ai="0">
<h2 id="element-type">element_type</h2>
</a><p>

</p>
<a href="message_api.html#fiducial-list" data-cms-ai="0">
<h2 id="fiducial-list">fiducial_list</h2>
</a>

<a href="message_api.html#fiduciallistproto" data-cms-ai="0">
<h3 id="fiduciallistproto">FiducialListProto</h3>
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            <code><p><i># A list of detected ficucials</i>
<span class="k">struct</span> <span class="n">FiducialListProto</span> {
  <span class="n">fiducialList</span> @0: List(FiducialProto);
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#fiducialproto" data-cms-ai="0">
<h3 id="fiducialproto">FiducialProto</h3>
</a>
<p>
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            <code><p><i># A fiducial is an object placed in the field of view</i>
<i># of an imaging system for use as a point of reference or a measure</i>
<span class="k">struct</span> <span class="n">FiducialProto</span> {
  <i># A fiducial can be of type (April Tag, QRCode, Barcode or ARTag)</i>
  <span class="k">enum</span> <span class="n">Type</span> {
    <span class="n">apriltag</span> @0;
    <span class="n">qrcode</span> @1;
    <span class="n">barcode</span> @2;
    <span class="n">artag</span> @3;
  }
  <i># Enum to identify the type of fiducial represented by the</i>
  <i># proto instance</i>
  <span class="n">type</span> @0: Type;
  <i># Text field that identifies the ID of the fiducial</i>
  <i># For April Tag, the id is of the format &lt;TagFamily_ID&gt;</i>
  <i># Ex. If the decoded tag ID is 14 and belongs to TagFamily tag36h11,</i>
  <i># The id is tag36h11_14</i>
  <span class="n">id</span> @1: Text;
  <i># 3D pose of the detected tag from the camera coordinates,</i>
  <i># consisting of orientation (quaternion) and translation</i>
  <i># Camera coordinate (X - right, Y - down, Z - outward)</i>
  <i># Tag coordinate (X - right, Y - down, Z - opposite to tag face direction)</i>
  <i># Tag coordinates are centered at tag's upper-left corner</i>
  <i># ie. Pose has identity quaternion and zero translation, when tag is facing the camera and it's</i>
  <i># upper-left corner is centered at the camera center</i>
  <span class="n">cameraTTag</span> @2: Pose3dProto;
  <i># Optional list of keypoints of the detected fiducial, in image space</i>
  <span class="n">keypoints</span> @3: List(Vector2dProto);
}</p></code>
        </pre>
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</bsp-code-block>
<p>
</p>

<a href="message_api.html#flatscan" data-cms-ai="0">
<h2 id="flatscan">flatscan</h2>
</a>

<a href="message_api.html#flatscanproto" data-cms-ai="0">
<h3 id="flatscanproto">FlatscanProto</h3>
</a>
<p>
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            <code><p><i># A 2D range scan which is essentially a flat version of the 3D RangeScanProto</i>
<span class="k">struct</span> <span class="n">FlatscanProto</span> {
  <i># Angles (in radians) under which rays are shot</i>
  <span class="n">angles</span> @0: List(Float32);
  <i># Return distance of the ray</i>
  <span class="n">ranges</span> @1: List(Float32);
  <i># Beams with a range smaller than or equal to this distance are considered to have returned an</i>
  <i># invalid measurement.</i>
  <span class="n">invalidRangeThreshold</span> @2: Float64;
  <i># Beams with a range larger than or equal to this distance are considered to not have hit an</i>
  <i># obstacle within the maximum possible range of the sensor.</i>
  <span class="n">outOfRangeThreshold</span> @3: Float64;
  <i># Return the visibility of a given ray (the longest valid distance of a beams in this direction)</i>
  <i># This field is optional, however if it is set, it must have the same size as ranges and angles.</i>
  <span class="n">visibilities</span> @4: List(Float32);
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#geometry" data-cms-ai="0">
<h2 id="geometry">geometry</h2>
</a>

<a href="message_api.html#groundplaneproto" data-cms-ai="0">
<h3 id="groundplaneproto">GroundPlaneProto</h3>
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            <code><p><i># (deprecated) A message describing the location of the ground.</i>
<span class="k">struct</span> <span class="n">GroundPlaneProto</span> {
  <i># The ground plane.</i>
  <span class="n">plane</span> @0: PlaneProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#planeproto" data-cms-ai="0">
<h3 id="planeproto">PlaneProto</h3>
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            <code><p><i># A plane in three-dimensional space</i>
<span class="k">struct</span> <span class="n">PlaneProto</span> {
  <span class="n">normal</span> @0: Vector3dProto;
  <span class="n">offset</span> @1: Float64;
}</p></code>
        </pre>
    </div>
    
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<p>
<br>

</p>
<a href="message_api.html#rectangleproto" data-cms-ai="0">
<h3 id="rectangleproto">RectangleProto</h3>
</a>
<p>
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            <code><p><i># A rectangle using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">RectangleProto</span> {
  <i># (x, y) values of the lower left corner of the rectangle</i>
  <span class="n">min</span> @0: Vector2dProto;
  <i># (x, y) values of the upper right corner of the rectangle</i>
  <span class="n">max</span> @1: Vector2dProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#graph" data-cms-ai="0">
<h2 id="graph">graph</h2>
</a>

<a href="message_api.html#graphproto" data-cms-ai="0">
<h3 id="graphproto">GraphProto</h3>
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            <code><p><i># A general graph</i>
<span class="k">struct</span> <span class="n">GraphProto</span> {
  <i># The number of nodes in the graph. Indices in the list of edges will</i>
  <i># always be smaller than this number.</i>
  <span class="n">nodeCount</span> @0: Int32;
  <i># An edge in the graph connects two nodes.</i>
  <span class="k">struct</span> <span class="n">EdgeProto</span> {
    <span class="n">source</span> @0: Int32;
    <span class="n">target</span> @1: Int32;
  }
  <i># The edges of the graph.</i>
  <span class="n">edges</span> @1: List(EdgeProto);
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pose2graphproto" data-cms-ai="0">
<h3 id="pose2graphproto">Pose2GraphProto</h3>
</a>
<p>
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            <code><p><i># A graph of Pose2f represented by a list of poses and a list of weighted edges between</i>
<i># pair of nodes.</i>
<span class="k">struct</span> <span class="n">Pose2GraphProto</span> {
  <i># The list of edges of the graph and the number of nodes.</i>
  <span class="n">graph</span> @0: GraphProto;
  <i># The list of the nodes of the graph. Each node corresponds to a Pose2f. The size of the list must</i>
  <i># match graph.getNodeCount().</i>
  <span class="n">nodes</span> @1: List(Pose2fProto);
  <i># Optional list of the weight for each edge. If it is not empty, the size must match:</i>
  <i># graph.getEdges().size()</i>
  <span class="n">weights</span> @2: List(Float32);
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#heatmap" data-cms-ai="0">
<h2 id="heatmap">heatmap</h2>
</a>

<a href="message_api.html#heatmapproto" data-cms-ai="0">
<h3 id="heatmapproto">HeatmapProto</h3>
</a>
<p>
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            <code><p><i># Describes the heatmap of probabilities for different units</i>
<span class="k">struct</span> <span class="n">HeatmapProto</span> {
  <i># Probability for each cell of the grid</i>
  <span class="n">heatmap</span> @0: ImageProto;
  <i># Name of the frame of the map (as registered in the PoseTree)</i>
  <span class="n">frameName</span> @1: Text;
  <i># Size of a pixel in meters</i>
  <span class="n">gridCellSize</span> @2: Float32;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#image" data-cms-ai="0">
<h2 id="image">image</h2>
</a>

<a href="message_api.html#imageproto" data-cms-ai="0">
<h3 id="imageproto">ImageProto</h3>
</a>
<p>
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            <code><p><i># An image produced for example by a camera</i>
<span class="k">struct</span> <span class="n">ImageProto</span> {
  <i># Type of channel elements</i>
  <span class="n">elementType</span> @0: ElementType;
  <i># Number of rows in the image</i>
  <span class="n">rows</span> @1: UInt16;
  <i># Number of columns in the image</i>
  <span class="n">cols</span> @2: UInt16;
  <i># Number of channels per pixel</i>
  <span class="n">channels</span> @3: UInt16;
  <i># Index of buffer which contains the image data</i>
  <span class="n">dataBufferIndex</span> @4: UInt16;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#imu" data-cms-ai="0">
<h2 id="imu">imu</h2>
</a>

<a href="message_api.html#imuproto" data-cms-ai="0">
<h3 id="imuproto">ImuProto</h3>
</a>
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            <code><p><i># Message published by an inertial measurement unit (IMU)</i>
<span class="k">struct</span> <span class="n">ImuProto</span> {
  <i># The linear acceleration of the body frame along the primary axes</i>
  <span class="n">linearAccelerationX</span> @0: Float32;
  <span class="n">linearAccelerationY</span> @1: Float32;
  <span class="n">linearAccelerationZ</span> @2: Float32;
  <i># The angular velocity of the body frame around the primary axes</i>
  <span class="n">angularVelocityX</span> @3: Float32;
  <span class="n">angularVelocityY</span> @4: Float32;
  <span class="n">angularVelocityZ</span> @5: Float32;
  <i># Optional angles as integrated by a potential internal estimator</i>
  <span class="n">angleYaw</span> @6: Float32;
  <span class="n">anglePitch</span> @7: Float32;
  <span class="n">angleRoll</span> @8: Float32;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#joystick-state" data-cms-ai="0">
<h2 id="joystick-state">joystick_state</h2>
</a>

<a href="message_api.html#joystickstateproto" data-cms-ai="0">
<h3 id="joystickstateproto">JoystickStateProto</h3>
</a>
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            <code><p><i># Messages published from a gamepad controller.</i>
<span class="k">struct</span> <span class="n">JoystickStateProto</span> {
  <i># State of gamepad axes</i>
  <span class="n">axes</span> @0: List(Vector2dProto);
  <i># State of gamepad buttons</i>
  <span class="n">buttons</span> @1: List(Bool);
}</p></code>
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</p>

<a href="message_api.html#json" data-cms-ai="0">
<h2 id="json">json</h2>
</a>

<a href="message_api.html#jsonproto" data-cms-ai="0">
<h3 id="jsonproto">JsonProto</h3>
</a>
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            <code><p><i># A proto transporting a JSON string encoded as a string</i>
<span class="k">struct</span> <span class="n">JsonProto</span> {
  <i># The serialized JSON object</i>
  <span class="n">serialized</span> @0: Text;
}</p></code>
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<p>
</p>

<a href="message_api.html#led-strip" data-cms-ai="0">
<h2 id="led-strip">led_strip</h2>
</a>

<a href="message_api.html#ledstripproto" data-cms-ai="0">
<h3 id="ledstripproto">LedStripProto</h3>
</a>
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            <code><p><i># A message to describe a desired state of a LED display strip</i>
<span class="k">struct</span> <span class="n">LedStripProto</span> {
  <i># Light strip status. If false, the LED strip is powered off.</i>
  <i># If true, the LED strip displays the pattern and color</i>
  <i># defined by the following parameters of this message.</i>
  <span class="n">enabled</span> @0: Bool;
  <i># Color to display, in RGB format</i>
  <span class="n">color</span> @1: Vector3ubProto;
  <i># Number of LEDs to skip when displaying this color. The remaining</i>
  <i># LEDs will be unchanged.</i>
  <span class="n">skip</span> @2: Int32;
  <i># If a skip value is defined, the offset is the index of LED to start</i>
  <i># the skip pattern. i.e. To set every other LED</i>
  <i># starting from the third LED use skip = 2, offset = 3</i>
  <span class="n">offset</span> @3: Int32;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#map" data-cms-ai="0">
<h2 id="map">map</h2>
</a>

<a href="message_api.html#latticeproto" data-cms-ai="0">
<h3 id="latticeproto">LatticeProto</h3>
</a>
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            <code><p><i># The information of a lattice coordinate system: it contains the name of frame registered in the</i>
<i># PoseTree and the size of the cells.</i>
<span class="k">struct</span> <span class="n">LatticeProto</span> {
  <i># The name of frame as registered in the PoseTree</i>
  <span class="n">frame</span> @0: Text;
  <i># The size of a grid cell in meters</i>
  <span class="n">cellSize</span> @1: Float64;
  <i># The dimensions of the lattice grid.</i>
  <span class="n">dimensions</span> @2: Vector2iProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#marker-list" data-cms-ai="0">
<h2 id="marker-list">marker_list</h2>
</a>

<a href="message_api.html#markerlistproto" data-cms-ai="0">
<h3 id="markerlistproto">MarkerListProto</h3>
</a>
<p>
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            <code><p><i># Representation of raw marker info tracked by a motion capture system</i>
<span class="k">struct</span> <span class="n">MarkerListProto</span> {
  <i># List of markers</i>
  <span class="n">markers</span> @0: List(Marker);
  <i># A motion captured marker</i>
  <span class="k">struct</span> <span class="n">Marker</span> {
    <i># Marker name or label, if labeled in mocap system</i>
    <span class="n">name</span> @0: Text;
    <i># Name of node that this marker belongs to, if any</i>
    <i># If unlabeled, parent is scene root</i>
    <span class="n">parent</span> @1: Text;
    <i># Translation of marker relative to the global origin</i>
    <span class="n">worldTMarker</span> @2: Vector3dProto;
    <i># True if marker is occluded in current frame, false otherwise</i>
    <span class="n">occluded</span> @3: Bool;
  }
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#math" data-cms-ai="0">
<h2 id="math">math</h2>
</a>

<a href="message_api.html#matrix3dproto" data-cms-ai="0">
<h3 id="matrix3dproto">Matrix3dProto</h3>
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            <code><p><i># A matrix with dimensions 3x3 using 64-bit floating points</i>
<span class="k">struct</span> <span class="n">Matrix3dProto</span> {
  <span class="n">row1</span> @0: Vector3dProto;
  <span class="n">row2</span> @1: Vector3dProto;
  <span class="n">row3</span> @2: Vector3dProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pose2meanandcovariance" data-cms-ai="0">
<h3 id="pose2meanandcovariance">Pose2MeanAndCovariance</h3>
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            <code><p><i># A type containing mean and covariance for a Pose2</i>
<span class="k">struct</span> <span class="n">Pose2MeanAndCovariance</span> {
  <i># The mean of the distribution</i>
  <span class="n">mean</span> @0: Pose2dProto;
  <i># The covariance of the distribution in the reference frame of the mean.</i>
  <span class="n">covariance</span> @1: Matrix3dProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pose2samples" data-cms-ai="0">
<h3 id="pose2samples">Pose2Samples</h3>
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            <code><p><i># A list of samples of type Pose2</i>
<span class="k">struct</span> <span class="n">Pose2Samples</span> {
  <i># The state for every sample</i>
  <span class="n">states</span> @0: List(Pose2dProto);
  <i># A weight for every sample. Optional and default is equal weighting.</i>
  <span class="n">weights</span> @1: List(Float64);
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pose2dproto" data-cms-ai="0">
<h3 id="pose2dproto">Pose2dProto</h3>
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            <code><p><i># A pose for 2-dimensional space with rotation and translation using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">Pose2dProto</span> {
  <span class="n">rotation</span> @0: SO2dProto;
  <span class="n">translation</span> @1: Vector2dProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pose2fproto" data-cms-ai="0">
<h3 id="pose2fproto">Pose2fProto</h3>
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            <code><p><i># A pose for 2-dimensional space with rotation and translation using 32-bit floats</i>
<span class="k">struct</span> <span class="n">Pose2fProto</span> {
  <span class="n">rotation</span> @0: SO2fProto;
  <span class="n">translation</span> @1: Vector2fProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pose3dproto" data-cms-ai="0">
<h3 id="pose3dproto">Pose3dProto</h3>
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            <code><p><i># A pose for 3-dimensional space with rotation and translation using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">Pose3dProto</span> {
  <span class="n">rotation</span> @0: SO3dProto;
  <span class="n">translation</span> @1: Vector3dProto;
}</p></code>
        </pre>
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</p>
<a href="message_api.html#pose3fproto" data-cms-ai="0">
<h3 id="pose3fproto">Pose3fProto</h3>
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            <code><p><i># A pose for 3-dimensional space with rotation and translation using 32-bit floats</i>
<span class="k">struct</span> <span class="n">Pose3fProto</span> {
  <span class="n">rotation</span> @0: SO3fProto;
  <span class="n">translation</span> @1: Vector3fProto;
}</p></code>
        </pre>
    </div>
    
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<p>
<br>

</p>
<a href="message_api.html#quaterniondproto" data-cms-ai="0">
<h3 id="quaterniondproto">QuaterniondProto</h3>
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            <code><p><i># A quaternion using 64-bit doubles for example to represent rotations</i>
<span class="k">struct</span> <span class="n">QuaterniondProto</span> {
  <span class="n">w</span> @0: Float64;
  <span class="n">x</span> @1: Float64;
  <span class="n">y</span> @2: Float64;
  <span class="n">z</span> @3: Float64;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#quaternionfproto" data-cms-ai="0">
<h3 id="quaternionfproto">QuaternionfProto</h3>
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            <code><p><i># A quaternion using 32-bit floats for example to represent rotations</i>
<span class="k">struct</span> <span class="n">QuaternionfProto</span> {
  <span class="n">w</span> @0: Float32;
  <span class="n">x</span> @1: Float32;
  <span class="n">y</span> @2: Float32;
  <span class="n">z</span> @3: Float32;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#so2dproto" data-cms-ai="0">
<h3 id="so2dproto">SO2dProto</h3>
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            <code><p><i># A rotation in 2-dimensional Euclidean space using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">SO2dProto</span> {
  <i># unit complex number (cos(a), sin(a)) for rotation angle a</i>
  <span class="n">q</span> @0: Vector2dProto;
}</p></code>
        </pre>
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<br>

</p>
<a href="message_api.html#so2fproto" data-cms-ai="0">
<h3 id="so2fproto">SO2fProto</h3>
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            <code><p><i># A rotation in 2-dimensional Euclidean space using 32-bit floats</i>
<span class="k">struct</span> <span class="n">SO2fProto</span> {
  <i># unit complex number (cos(a), sin(a)) for rotation angle a</i>
  <span class="n">q</span> @0: Vector2fProto;
}</p></code>
        </pre>
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<a href="message_api.html#so3dproto" data-cms-ai="0">
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            <code><p><i># A rotation in 3-dimensional Euclidean space using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">SO3dProto</span> {
  <i># a normalized quaternion</i>
  <span class="n">q</span> @0: QuaterniondProto;
}</p></code>
        </pre>
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<a href="message_api.html#so3fproto" data-cms-ai="0">
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            <code><p><i># A rotation in 3-dimensional Euclidean space using 32-bit floats</i>
<span class="k">struct</span> <span class="n">SO3fProto</span> {
  <i># a normalized quaternion</i>
  <span class="n">q</span> @0: QuaternionfProto;
}</p></code>
        </pre>
    </div>
    
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<p>
<br>

</p>
<a href="message_api.html#vector2dproto" data-cms-ai="0">
<h3 id="vector2dproto">Vector2dProto</h3>
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            <code><p><i># A 2-dimensional vector using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">Vector2dProto</span> {
  <span class="n">x</span> @0: Float64;
  <span class="n">y</span> @1: Float64;
}</p></code>
        </pre>
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<p>
<br>

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<a href="message_api.html#vector2fproto" data-cms-ai="0">
<h3 id="vector2fproto">Vector2fProto</h3>
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            <code><p><i># A 2-dimensional vector using 32-bit floats</i>
<span class="k">struct</span> <span class="n">Vector2fProto</span> {
  <span class="n">x</span> @0: Float32;
  <span class="n">y</span> @1: Float32;
}</p></code>
        </pre>
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<p>
<br>

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<a href="message_api.html#vector2iproto" data-cms-ai="0">
<h3 id="vector2iproto">Vector2iProto</h3>
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            <code><p><i># A 2-dimensional vector using 32-bit integers</i>
<span class="k">struct</span> <span class="n">Vector2iProto</span> {
  <span class="n">x</span> @0: Int32;
  <span class="n">y</span> @1: Int32;
}</p></code>
        </pre>
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<p>
<br>

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<a href="message_api.html#vector3dproto" data-cms-ai="0">
<h3 id="vector3dproto">Vector3dProto</h3>
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            <code><p><i># A 3-dimensional vector using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">Vector3dProto</span> {
  <span class="n">x</span> @0: Float64;
  <span class="n">y</span> @1: Float64;
  <span class="n">z</span> @2: Float64;
}</p></code>
        </pre>
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<p>
<br>

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<a href="message_api.html#vector3fproto" data-cms-ai="0">
<h3 id="vector3fproto">Vector3fProto</h3>
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            <code><p><i># A 3-dimensional vector using 32-bit floats</i>
<span class="k">struct</span> <span class="n">Vector3fProto</span> {
  <span class="n">x</span> @0: Float32;
  <span class="n">y</span> @1: Float32;
  <span class="n">z</span> @2: Float32;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#vector3iproto" data-cms-ai="0">
<h3 id="vector3iproto">Vector3iProto</h3>
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            <code><p><i># A 3-dimensional vector using 32-bit integers</i>
<span class="k">struct</span> <span class="n">Vector3iProto</span> {
  <span class="n">x</span> @0: Int32;
  <span class="n">y</span> @1: Int32;
  <span class="n">z</span> @2: Int32;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#vector3ubproto" data-cms-ai="0">
<h3 id="vector3ubproto">Vector3ubProto</h3>
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            <code><p><i># A 3-dimensional vector using unsigned 8-bit integers</i>
<span class="k">struct</span> <span class="n">Vector3ubProto</span> {
  <span class="n">x</span> @0: UInt8;
  <span class="n">y</span> @1: UInt8;
  <span class="n">z</span> @2: UInt8;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#vector4dproto" data-cms-ai="0">
<h3 id="vector4dproto">Vector4dProto</h3>
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            <code><p><i># A 4-dimensional vector using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">Vector4dProto</span> {
  <span class="n">x</span> @0: Float64;
  <span class="n">y</span> @1: Float64;
  <span class="n">z</span> @2: Float64;
  <span class="n">w</span> @3: Float64;
}</p></code>
        </pre>
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<p>
<br>

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<a href="message_api.html#vector4fproto" data-cms-ai="0">
<h3 id="vector4fproto">Vector4fProto</h3>
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            <code><p><i># A 4-dimensional vector using 32-bit floats</i>
<span class="k">struct</span> <span class="n">Vector4fProto</span> {
  <span class="n">x</span> @0: Float32;
  <span class="n">y</span> @1: Float32;
  <span class="n">z</span> @2: Float32;
  <span class="n">w</span> @3: Float32;
}</p></code>
        </pre>
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<p>
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<a href="message_api.html#vector4iproto" data-cms-ai="0">
<h3 id="vector4iproto">Vector4iProto</h3>
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            <code><p><i># A 4-dimensional vector using 32-bit integers</i>
<span class="k">struct</span> <span class="n">Vector4iProto</span> {
  <span class="n">x</span> @0: Int32;
  <span class="n">y</span> @1: Int32;
  <span class="n">z</span> @2: Int32;
  <span class="n">w</span> @3: Int32;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#vectorxdproto" data-cms-ai="0">
<h3 id="vectorxdproto">VectorXdProto</h3>
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            <code><p><i># A X-dimensional vector using 64-bit doubles</i>
<span class="k">struct</span> <span class="n">VectorXdProto</span> {
  <span class="n">coefficients</span> @0: List(Float64);
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#vectorxfproto" data-cms-ai="0">
<h3 id="vectorxfproto">VectorXfProto</h3>
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            <code><p><i># A X-dimensional vector using 32-bit floats</i>
<span class="k">struct</span> <span class="n">VectorXfProto</span> {
  <span class="n">coefficients</span> @0: List(Float32);
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#vectorxiproto" data-cms-ai="0">
<h3 id="vectorxiproto">VectorXiProto</h3>
</a>
<p>
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            <code><p><i># A X-dimensional vector using 32-bit integers</i>
<span class="k">struct</span> <span class="n">VectorXiProto</span> {
  <span class="n">coefficients</span> @0: List(Int32);
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#mission" data-cms-ai="0">
<h2 id="mission">mission</h2>
</a>

<a href="message_api.html#missionproto" data-cms-ai="0">
<h3 id="missionproto">MissionProto</h3>
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            <code><p><i># A message representing a mission to run by the application. A mission consists of a ISAAC</i>
<i># configuration to apply to the application as well as a behavior tree to trigger. The application</i>
<i># configuration is embedded in the MissionProto message and the behavior tree depends on which</i>
<i># components receives the MissionProto.</i>
<span class="k">struct</span> <span class="n">MissionProto</span> {
  <i># Uniquely identifies a mission across all systems</i>
  <span class="n">uuid</span> @0: UuidProto;
  <i># Json encoding an ISAAC configuration to apply before running the mission.</i>
  <span class="n">config</span> @1: JsonProto;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#missionstatusproto" data-cms-ai="0">
<h3 id="missionstatusproto">MissionStatusProto</h3>
</a>
<p>
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            <code><p><i># A message which identifies the status of a mission started by a MissionProto message.</i>
<i># This message is sent out as a response to a MissionProto message to indicate that</i>
<i># a mission has begun or to indicate that a mission has completed.</i>
<span class="k">struct</span> <span class="n">MissionStatusProto</span> {
  <i># Uniquely identifies a mission across all systems. This should match the uuid of the</i>
  <i># MissionProto message that started the mission.</i>
  <span class="n">uuid</span> @0: UuidProto;
  <i># An enum specifying the possible statuses of a mission</i>
  <span class="k">enum</span> <span class="n">MissionStatus</span> {
    <span class="n">running</span> @0;
    <span class="n">success</span> @1;
    <span class="n">failure</span> @2;
  }
  <i># The status of the mission</i>
  <span class="n">missionStatus</span> @1: MissionStatus;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#obstacles" data-cms-ai="0">
<h2 id="obstacles">obstacles</h2>
</a>

<a href="message_api.html#obstaclesproto" data-cms-ai="0">
<h3 id="obstaclesproto">ObstaclesProto</h3>
</a>
<p>
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            <code><p><i># A message containing all obstacles around the robot</i>
<span class="k">struct</span> <span class="n">ObstaclesProto</span> {
  <i># A message containing the information about a spherical obstacle</i>
  <span class="k">struct</span> <span class="n">SphereObstacleProto</span> {
    <i># The positions of the center in a given frame (see frame below)</i>
    <span class="n">center</span> @0: Vector3dProto;
    <i># The radius of the obstacle (include the minimal distance we aim to stay away from)</i>
    <span class="n">radius</span> @1: Float64;
    <i># The coordinate frame the center is located (must match a frame in the PoseTree)</i>
    <i># deprecated: use robotFrame below instead.</i>
    <span class="n">frame</span> @2: Text;
    <i># Unique identifier the can be used to track the object</i>
    <span class="n">uuid</span> @3: UuidProto;
    <i># Time this obstacle was reported (used in the PoseTree)</i>
    <span class="n">time</span> @4: Float64;
  }
  <i># A distance map describes the distance to the closest obstacle for every pixel.</i>
  <span class="k">struct</span> <span class="n">DistanceMapProto</span> {
    <i># The distance map as a 1d image. Each pixel contains the metric distance to the closest</i>
    <i># obstacle</i>
    <span class="n">image</span> @0: ImageProto;
    <i># The pose of the gridmap relative to the robot</i>
    <span class="n">robotTGridmap</span> @1: Pose2dProto;
    <i># The size of a grid cell</i>
    <span class="n">gridCellSize</span> @2: Float64;
    <i># Time this obstacle was reported (used in the PoseTree)</i>
    <span class="n">time</span> @3: Float64;
  }
  <i># List of spherical obstacles (see SphereObstacleProto for details)</i>
  <span class="n">obstacles</span> @0: List(SphereObstacleProto);
  <i># List of distance maps (see DistanceMapProto for details)</i>
  <span class="n">distanceMaps</span> @1: List(DistanceMapProto);
  <i># The coordinate frame the center is located (must match a frame in the PoseTree)</i>
  <span class="n">robotFrame</span> @2: Text;
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#ping" data-cms-ai="0">
<h2 id="ping">ping</h2>
</a>

<a href="message_api.html#pingproto" data-cms-ai="0">
<h3 id="pingproto">PingProto</h3>
</a>
<p>
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            <code><p><i># A generic message to ping another node with a private message.</i>
<span class="k">struct</span> <span class="n">PingProto</span> {
  <span class="n">message</span> @0: Text;
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#point-cloud" data-cms-ai="0">
<h2 id="point-cloud">point_cloud</h2>
</a>

<a href="message_api.html#pointcloudproto" data-cms-ai="0">
<h3 id="pointcloudproto">PointCloudProto</h3>
</a>
<p>
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            <code><p><i># A message containing information about a set of points , also called "point cloud". Points can</i>
<i># have various attributes. This message provides the position of the point in 3D space, a normal,</i>
<i># a color and an intensity. Point attributes are each stored as NxM tensors. N is the number</i>
<i># points which has to be identical for all attributes or 0. M is the dimension of the corresponding</i>
<i># attribute.</i>
<span class="k">struct</span> <span class="n">PointCloudProto</span> {
  <i># The position of points. Most commonly XYZ stored as three 32-bit floats.</i>
  <span class="n">positions</span> @0: TensorProto;
  <i># A normal of the point. Most commonly a unit vector stored as three 32-bit floats.</i>
  <span class="n">normals</span> @1: TensorProto;
  <i># A color value for each point. Most commonly an RGB value stored as three 32-bit unit floats.</i>
  <span class="n">colors</span> @2: TensorProto;
  <i># The intensity for each point used for example by LiDAR sensors. Most commonly a single 32-bit</i>
  <i># float.</i>
  <span class="n">intensities</span> @3: TensorProto;
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#pose-tree" data-cms-ai="0">
<h2 id="pose-tree">pose_tree</h2>
</a>

<a href="message_api.html#posetreeproto" data-cms-ai="0">
<h3 id="posetreeproto">PoseTreeProto</h3>
</a>
<p>
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            <code><p><i># Pose tree/kinematic tree: hierarchical kinematic representation</i>
<span class="k">struct</span> <span class="n">PoseTreeProto</span> {
  <i># Pose tree name</i>
  <span class="n">name</span> @0: Text;
  <i># List of all nodes in tree</i>
  <span class="n">nodes</span> @1: List(Node);
  <i># List of all edges between nodes in the tree, i.e. adjacency list</i>
  <span class="n">edges</span> @2: List(Edge);
  <i># Each node in the tree holds its pose relative to its immediate parent and its pose relative to the root</i>
  <span class="k">struct</span> <span class="n">Node</span> {
    <i># Node name</i>
    <span class="n">name</span> @0: Text;
    <i># This node's parent index in the nodes list</i>
    <span class="n">parentIndex</span> @1: Int32;
    <i># Transformation of node relative to its parent</i>
    <span class="n">parentTNode</span> @2: Pose3dProto;
    <i># Transformation of node relative to global origin</i>
    <span class="n">worldTNode</span> @3: Pose3dProto;
  }
  <i># Each edge holds a parent name and child name</i>
  <i># Every node knows its parent's index but this is for human readability</i>
  <span class="k">struct</span> <span class="n">Edge</span> {
    <i># Parent name</i>
    <span class="n">parentName</span> @0: Text;
    <i># Child name</i>
    <span class="n">childName</span> @1: Text;
  }
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#pwm-channel-set" data-cms-ai="0">
<h2 id="pwm-channel-set">pwm_channel_set</h2>
</a>

<a href="message_api.html#pwmchannelsetdutycycleproto" data-cms-ai="0">
<h3 id="pwmchannelsetdutycycleproto">PwmChannelSetDutyCycleProto</h3>
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            <code><p><i># Set a duty cycle for a given PWM channel</i>
<span class="k">struct</span> <span class="n">PwmChannelSetDutyCycleProto</span> {
  <span class="n">channel</span> @0: Int32;
  <i># PWM channel to set</i>
  <span class="n">dutyCycle</span> @1: Float32;
  <i># duty cycle, as a percentage (0.0 to 1.0)</i>
  <span class="n">disable</span> @2: Bool;
  <i># if set to true, duty cycle is ignored and power is set to 0</i>
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#pwmchannelsetpulselengthproto" data-cms-ai="0">
<h3 id="pwmchannelsetpulselengthproto">PwmChannelSetPulseLengthProto</h3>
</a>
<p>
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            <code><p><i># Set a pulse length for a given PWM channel</i>
<span class="k">struct</span> <span class="n">PwmChannelSetPulseLengthProto</span> {
  <span class="n">channel</span> @0: Int32;
  <i># PWM channel to set</i>
  <span class="n">pulseLength</span> @1: Float32;
  <i># length of pulse, as a percentage (0.0 to 1.0)</i>
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#range-scan" data-cms-ai="0">
<h2 id="range-scan">range_scan</h2>
</a>

<a href="message_api.html#rangescanproto" data-cms-ai="0">
<h3 id="rangescanproto">RangeScanProto</h3>
</a>
<p>
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            <code><p><i># A message about laser range scans published for example from a LIDAR sensor</i>
<i># The message does not have to capture a full 360 degree scan, as most sensors publish partial</i>
<i># slices at high frequency instead of waiting to complete a full scan.</i>
<span class="k">struct</span> <span class="n">RangeScanProto</span> {
  <i># Normalized distance to target (see rangeScale) of the scanned rays. Data type is 16-bit integer.</i>
  <i># For each angle theta there is a ray for every phi angle. So the total number of rays is</i>
  <i># length(theta) * length(phi). First rank is theta and second rank is phi.</i>
  <span class="n">ranges</span> @0: TensorProto;
  <i># Normalized ray return intensity (see intensityScale) of the scanned rays. Data type is 8-bit</i>
  <i># integer. For each angle theta there is a ray for every phi angle. So the total number of rays is</i>
  <i># length(theta) * length(phi). First rank is theta and second rank is phi.</i>
  <i># This entry is optional. Default is full intensity for all rays.</i>
  <span class="n">intensities</span> @1: TensorProto;
  <i># table of theta (horizontal) angles</i>
  <span class="n">theta</span> @2: List(Float32);
  <i># table of phi (vertical) angles</i>
  <span class="n">phi</span> @3: List(Float32);
  <i># Scale factor which can be used to convert a range value from a 16-bit integer to meters. The</i>
  <i># conversion formula is: range[meters] = range[normalized] / 0xFFFF * rangeScale</i>
  <span class="n">rangeDenormalizer</span> @4: Float32;
  <i># Scale factor which can be used to convert an intensity value from an 8-bit integer to meters.</i>
  <i># The conversion formula is: intensity = intensity[normalized] / 0xFF * intensityScale</i>
  <span class="n">intensityDenormalizer</span> @5: Float32;
  <i># Delay in microseconds between firing</i>
  <span class="n">deltaTime</span> @6: UInt16;
  <i># Beams with a range smaller than or equal to this distance (in meters) are considered to have</i>
  <i># returned an invalid measurement.</i>
  <span class="n">invalidRangeThreshold</span> @7: Float64;
  <i># Beams with a range larger than or equal to this distance (in meters) are considered to not have</i>
  <i># hit an obstacle within the maximum possible range of the sensor.</i>
  <span class="n">outOfRangeThreshold</span> @8: Float64;
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#rigid-body-3-group" data-cms-ai="0">
<h2 id="rigid-body-3-group">rigid_body_3_group</h2>
</a>

<a href="message_api.html#rigidbody3groupproto" data-cms-ai="0">
<h3 id="rigidbody3groupproto">RigidBody3GroupProto</h3>
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            <code><p><i># A list of rigid bodies in a certain coordinate frame</i>
<span class="k">struct</span> <span class="n">RigidBody3GroupProto</span> {
  <i># List of rigid bodies</i>
  <span class="n">bodies</span> @0: List(RigidBody3Proto);
  <i># Optional names for rigid bodies</i>
  <span class="n">names</span> @1: List(Text);
  <i># Name of coordinate system reference frame</i>
  <span class="n">referenceFrame</span> @2: Text;
}</p></code>
        </pre>
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<p>
<br>

</p>
<a href="message_api.html#rigidbody3proto" data-cms-ai="0">
<h3 id="rigidbody3proto">RigidBody3Proto</h3>
</a>
<p>
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            <code><p><i># A rigid body in 3D</i>
<span class="k">struct</span> <span class="n">RigidBody3Proto</span> {
  <i># The pose of the rigid body with respect to its reference coordinate frame</i>
  <span class="n">refTBody</span> @0: Pose3dProto;
  <i># The linear velocity in the reference coordinate frame</i>
  <span class="n">linearVelocity</span> @1: Vector3dProto;
  <i># The angular velocity as a Rodrigues vector in the reference coordinate frame. This means</i>
  <i># the vector's direction is the axis of rotation and its length is the angular speed around</i>
  <i># that axis.</i>
  <span class="n">angularVelocity</span> @2: Vector3dProto;
  <i># The linear acceleration</i>
  <span class="n">linearAcceleration</span> @3: Vector3dProto;
  <i># The angular acceleration</i>
  <span class="n">angularAcceleration</span> @4: Vector3dProto;
  <i># The relative scales in x, y, z axis in the body frame; (1.0, 1.0, 1.0) represents the original</i>
  <i># scale.</i>
  <span class="n">scales</span> @5: Vector3dProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#robot-state" data-cms-ai="0">
<h2 id="robot-state">robot_state</h2>
</a>

<a href="message_api.html#robotstateproto" data-cms-ai="0">
<h3 id="robotstateproto">RobotStateProto</h3>
</a>
<p>
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            <code><p><i># The robot state at that particular instance of time. The proto stores the current position and</i>
<i># angle, as well as the difference between the previous values of the states (position and angle).</i>
<i># Also contains the current linear and angular speed, obtained from odometry input</i>
<span class="k">struct</span> <span class="n">RobotStateProto</span> {
  <i># Current pose of robot in the world coordinate frame</i>
  <span class="n">worldTRobot</span> @0: Pose2dProto;
  <i># Current speed of body (x, y and angular)</i>
  <span class="n">currentSpeed</span> @1: Vector3dProto;
  <i># Distance travelled from last updated position</i>
  <span class="n">displacementSinceLastUpdate</span> @2: Vector3dProto;
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#segmentation-prediction" data-cms-ai="0">
<h2 id="segmentation-prediction">segmentation_prediction</h2>
</a>

<a href="message_api.html#segmentationpredictionproto" data-cms-ai="0">
<h3 id="segmentationpredictionproto">SegmentationPredictionProto</h3>
</a>
<p>
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            <div class="CodeBlock-lineNumbers"></div>
            <code><p><i># Segmentation prediction proto stores the probability distribution over classes for each pixel in</i>
<i># a three dimensional tensor. The probability will add up to one for each pixel.</i>
<span class="k">struct</span> <span class="n">SegmentationPredictionProto</span> {
  <i># List of all class names. The number of elements must match the third dimension of the tensor.</i>
  <span class="n">classNames</span> @0: List(Text);
  <i># Tensor with dimensions (rows * cols * classes)</i>
  <span class="n">prediction</span> @1: TensorProto;
}</p></code>
        </pre>
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<p>
</p>

<a href="message_api.html#state" data-cms-ai="0">
<h2 id="state">state</h2>
</a>

<a href="message_api.html#stateproto" data-cms-ai="0">
<h3 id="stateproto">StateProto</h3>
</a>
<p>
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            <code><p><i># A message used to transport states of dynamic systems. This is used closely together with the</i>
<i># state gem to be found in //engine/gems/state. For example you can define the robot state using the</i>
<i># compile-time types defined in that gem, and then serialize that state into a message. The</i>
<i># receiver of that message can deserialize the state back into the compile-time robot state type.</i>
<span class="k">struct</span> <span class="n">StateProto</span> {
  <i># A densely packed representation of the state data as floating point numbers. The lowest rank</i>
  <i># indicates state element dimension, the second rank is time for a potential timeseries, and</i>
  <i># the third rank is for the batch index.</i>
  <span class="n">pack</span> @0: TensorProto;
  <i># The schema describing the format of the state vector</i>
  <span class="n">schema</span> @1: Text;
  <i># Alternative way to pass the data (for python)</i>
  <span class="n">data</span> @2: List(Float64);
}</p></code>
        </pre>
    </div>
    
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<p>
</p>

<a href="message_api.html#superpixels" data-cms-ai="0">
<h2 id="superpixels">superpixels</h2>
</a>

<a href="message_api.html#superpixellabelsproto" data-cms-ai="0">
<h3 id="superpixellabelsproto">SuperpixelLabelsProto</h3>
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            <code><p><i># Labels for superpixels. Assigns a label to every superpixel in a related SuperpixelsProto</i>
<span class="k">struct</span> <span class="n">SuperpixelLabelsProto</span> {
  <span class="n">labels</span> @0: List(Int32);
}</p></code>
        </pre>
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<a href="message_api.html#superpixelsproto" data-cms-ai="0">
<h3 id="superpixelsproto">SuperpixelsProto</h3>
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<p>
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            <code><p><i># A superpixel oversegmentation for an image. This is useful for various image segmentation methods</i>
<i># or perception algorithms in general.</i>
<i># # Each pixel in the image is assigned to a superpixel. For each superpixel information like the</i>
<i># pixel coordinate or the color are reported. Optionally also 3D data like point and normal are</i>
<i># reported.</i>
<span class="k">struct</span> <span class="n">SuperpixelsProto</span> {
  <i># 2D superpixel data based on the color image</i>
  <span class="k">struct</span> <span class="n">Superpixel</span> {
    <i># The average pixel coordinate of the superpixel stored as (row, col)</i>
    <span class="n">pixel</span> @0: Vector2fProto;
    <i># The average color of the superpixel stored as RGB in the range [0,1]</i>
    <span class="n">color</span> @1: Vector3fProto;
    <i># The number of pixels in this superpixel. There might be superpixels with count = 0 which</i>
    <i># indicates that no pixels were assigned to them. This would also indicate that other superpixel</i>
    <i># and surflet data is invalid.</i>
    <span class="n">count</span> @2: UInt32;
  }
  <i># Additional 3D surflet data for each superpixel defining the 3D shape of the superpixel</i>
  <span class="k">struct</span> <span class="n">Surflet</span> {
    <i># 3D point coordinates of the surflet</i>
    <span class="n">point</span> @0: Vector3fProto;
    <i># 3D normal of the surflet</i>
    <span class="n">normal</span> @1: Vector3fProto;
  }
  <i># An image which assignes a superpixel image to every pixel using the superpixel index. This index</i>
  <i># is identical to the position of the superpixel in the superpixels or surflet lists. Indices are</i>
  <i># stored as an unsinged 16-bit integer. Pixels which are not assigned to any superpixel are marked</i>
  <i># with the index 0xffff.</i>
  <span class="n">indices</span> @0: ImageProto;
  <i># 2D superpixel data for every pixel cluster</i>
  <span class="n">superpixels</span> @1: List(Superpixel);
  <i># 3D surflet data for every pixel cluster (optional)</i>
  <span class="n">surflets</span> @2: List(Surflet);
}</p></code>
        </pre>
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<a href="message_api.html#tensor" data-cms-ai="0">
<h2 id="tensor">tensor</h2>
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<h3 id="tensorproto">TensorProto</h3>
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            <code><p><i># A n-dimensional tensor</i>
<span class="k">struct</span> <span class="n">TensorProto</span> {
  <i># Type of channel elements</i>
  <span class="n">elementType</span> @0: ElementType;
  <i># Dimensions of the tensor</i>
  <span class="n">sizes</span> @1: List(Int32);
  <i># deprecated - not used anymore</i>
  <span class="n">scanlineStride</span> @2: UInt32;
  <i># Index of buffer which contains the tensor data</i>
  <span class="n">dataBufferIndex</span> @3: UInt16;
}</p></code>
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<h2 id="trajectory">trajectory</h2>
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            <code><p><i># A list of trajectories with three dimensions.</i>
<i># For example, one might consider the multiple trajectories for given bodies.</i>
<span class="k">struct</span> <span class="n">Vector3TrajectoryListProto</span> {
  <span class="n">trajectories</span> @0: List(Vector3TrajectoryProto);
}</p></code>
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<h3 id="vector3trajectoryproto">Vector3TrajectoryProto</h3>
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            <code><p><i># A trajectory with three dimensions.</i>
<i># The trajectory is composed of a time series of positions in reference to a given frame.</i>
<i># For example, one might consider the trajectory of a moving target.</i>
<i># Note: The timestamps may be omitted, in which case the trajectory is equivalent to a path.</i>
<span class="k">struct</span> <span class="n">Vector3TrajectoryProto</span> {
  <i># A list of states as positions or samples.</i>
  <span class="n">states</span> @0: List(Vector3dProto);
  <i># An optional list of timestamps in seconds corresponding to the list of states or positions.</i>
  <span class="n">timestamps</span> @1: List(Float64);
  <i># The reference frame for this trajectory.</i>
  <span class="n">frame</span> @2: Text;
}</p></code>
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<h2 id="uuid">uuid</h2>
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            <code><p><i># A unique identifier following the UUID specifications</i>
<span class="k">struct</span> <span class="n">UuidProto</span> {
  <i># First 8 bytes out of 16</i>
  <span class="n">lower</span> @0: UInt64;
  <i># Second 8 bytes out of 16</i>
  <span class="n">upper</span> @1: UInt64;
}</p></code>
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<a href="message_api.html#voice-command-detection" data-cms-ai="0">
<h2 id="voice-command-detection">voice_command_detection</h2>
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            <code><p><i># Message containing detected command id and list of timestamps of contributing keywords</i>
<span class="k">struct</span> <span class="n">VoiceCommandDetectionProto</span> {
  <i># Detected command id</i>
  <span class="n">commandId</span> @0: UInt8;
  <i># List of timestamps of contributing keywords to the detected command</i>
  <span class="n">timestamps</span> @1: List(UInt64);
}</p></code>
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